fix(obstacle_cruise_planner): ignore behind obstacles

[tkimura4]

Description

The current implementation does not adequately filter backward vehicles, and reacts to backward vehicles in cases such as
following image.

I fixed this by enhancing filtering for backward vehicles out of trajectory.

Related links

Tests performed

With this PR, backward vehicles are ignored properly.

Notes for reviewers

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[takayuki5168]

LGTM

[codecov]

Codecov Report

Base: 10.44% // Head: 10.41% // Decreases project coverage by -0.03% ⚠️

Coverage data is based on head (726d4c4) compared to base (23e261c).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1894      +/-   ##
==========================================
- Coverage   10.44%   10.41%   -0.04%     
==========================================
  Files        1233     1233              
  Lines       88027    88323     +296     
  Branches    20501    20501              
==========================================
  Hits         9197     9197              
- Misses      69319    69615     +296     
  Partials     9511     9511              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	10.43% <0.00%> (ø)		Carriedforward from 23e261c

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...e_planner/include/obstacle_cruise_planner/node.hpp	0.00% <ø> (ø)
planning/obstacle_cruise_planner/src/node.cpp	0.00% <0.00%> (ø)
...ning/obstacle_cruise_planner/src/polygon_utils.cpp	0.00% <0.00%> (ø)

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